ATE54864T1 - Vorrichtung zur werkzeugbewegung. - Google Patents

Vorrichtung zur werkzeugbewegung.

Info

Publication number
ATE54864T1
ATE54864T1 AT85850349T AT85850349T ATE54864T1 AT E54864 T1 ATE54864 T1 AT E54864T1 AT 85850349 T AT85850349 T AT 85850349T AT 85850349 T AT85850349 T AT 85850349T AT E54864 T1 ATE54864 T1 AT E54864T1
Authority
AT
Austria
Prior art keywords
tool movement
tool assembly
welding torch
angle
rotated
Prior art date
Application number
AT85850349T
Other languages
English (en)
Inventor
Torsten H Lindbom
Original Assignee
Esab Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Esab Ab filed Critical Esab Ab
Application granted granted Critical
Publication of ATE54864T1 publication Critical patent/ATE54864T1/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • B23K9/287—Supporting devices for electrode holders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/007—Arms the end effector rotating around a fixed point
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Lining Or Joining Of Plastics Or The Like (AREA)
  • Heating, Cooling, Or Curing Plastics Or The Like In General (AREA)
  • Pressure Welding/Diffusion-Bonding (AREA)
AT85850349T 1984-10-30 1985-10-29 Vorrichtung zur werkzeugbewegung. ATE54864T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US06/666,505 US4629860A (en) 1984-10-30 1984-10-30 Robotic apparatus and method for automatically moving a tool through three dimensions and manually to an extended position
EP85850349A EP0180565B1 (de) 1984-10-30 1985-10-29 Vorrichtung zur Werkzeugbewegung

Publications (1)

Publication Number Publication Date
ATE54864T1 true ATE54864T1 (de) 1990-08-15

Family

ID=24674348

Family Applications (1)

Application Number Title Priority Date Filing Date
AT85850349T ATE54864T1 (de) 1984-10-30 1985-10-29 Vorrichtung zur werkzeugbewegung.

Country Status (6)

Country Link
US (1) US4629860A (de)
EP (1) EP0180565B1 (de)
JP (1) JPS61123471A (de)
AT (1) ATE54864T1 (de)
DE (2) DE3578865D1 (de)
ES (1) ES8608987A1 (de)

Families Citing this family (69)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0262198B1 (de) * 1986-03-25 1992-03-25 Laser Lab Limited Anordnung mit arbeitskopf
GB8710305D0 (en) * 1987-04-30 1987-06-03 Manchester Inst Science Tech Mechanism
JPS63278674A (ja) * 1987-05-11 1988-11-16 Shinko Electric Co Ltd 回転中心のオフセツト機構
US4965499A (en) * 1987-12-31 1990-10-23 Westinghouse Electric Corp Parametric path modeling for an optical automatic seam tracker and real time robotic control system
US5015821A (en) * 1988-02-15 1991-05-14 Amada Company, Limited Computer controlled welding robot
IT1237707B (it) * 1989-12-20 1993-06-15 Prima Ind Spa Struttura di macchina operatrice
CA2017674C (en) * 1990-05-30 1995-06-13 Henning Hansen Articulated support arm for welding equipment
US5086206A (en) * 1990-05-30 1992-02-04 Henning Hansen Support arm
US5386092A (en) * 1991-11-04 1995-01-31 Unitek Equipment Inc. Fast response weld head
US5225647A (en) * 1991-11-04 1993-07-06 Unitek Equipment Inc. Motorized weld head
JPH0736514A (ja) * 1993-07-20 1995-02-07 Fanuc Ltd ３次元工具径補正方式
US5426722A (en) * 1993-09-09 1995-06-20 Stratasys, Inc. Method for optimizing the motion of a multi-axis robot
US5841104A (en) * 1996-09-03 1998-11-24 Abb Flexible Automation, Inc. Method and system for multiple pass welding
JPH10329065A (ja) * 1997-05-30 1998-12-15 Matsushita Electric Ind Co Ltd ロボットの位置ずれ補正方法
DE29803637U1 (de) * 1998-03-03 1999-07-15 KUKA Schweissanlagen GmbH, 86165 Augsburg Leitungsführung für einen mehrachsigen Industrieroboter
GB9826728D0 (en) * 1998-12-04 1999-01-27 Rolls Royce Plc Method and apparatus for building up a workpiece by deposit welding
JP4203696B2 (ja) * 1999-10-20 2009-01-07 株式会社安川電機 産業用機械の動作確認方法および装置
NO319550B1 (no) * 2002-12-19 2005-08-29 Per Oyvind Bo Anordning ved sveisehode
JP4451140B2 (ja) 2004-01-20 2010-04-14 本田技研工業株式会社 車両におけるロック解除操作部材配設構造
US9104195B2 (en) 2006-12-20 2015-08-11 Lincoln Global, Inc. Welding job sequencer
US9937577B2 (en) 2006-12-20 2018-04-10 Lincoln Global, Inc. System for a welding sequencer
US10994358B2 (en) 2006-12-20 2021-05-04 Lincoln Global, Inc. System and method for creating or modifying a welding sequence based on non-real world weld data
WO2009097697A1 (en) * 2008-02-06 2009-08-13 Roboweld Inc. Hybrid automated welding system
AT507021B1 (de) * 2008-07-04 2010-04-15 Fronius Int Gmbh Vorrichtung zur simulation eines schweissprozesses
US9280913B2 (en) 2009-07-10 2016-03-08 Lincoln Global, Inc. Systems and methods providing enhanced education and training in a virtual reality environment
US9318026B2 (en) 2008-08-21 2016-04-19 Lincoln Global, Inc. Systems and methods providing an enhanced user experience in a real-time simulated virtual reality welding environment
US8747116B2 (en) * 2008-08-21 2014-06-10 Lincoln Global, Inc. System and method providing arc welding training in a real-time simulated virtual reality environment using real-time weld puddle feedback
US8851896B2 (en) 2008-08-21 2014-10-07 Lincoln Global, Inc. Virtual reality GTAW and pipe welding simulator and setup
US9330575B2 (en) 2008-08-21 2016-05-03 Lincoln Global, Inc. Tablet-based welding simulator
US8834168B2 (en) 2008-08-21 2014-09-16 Lincoln Global, Inc. System and method providing combined virtual reality arc welding and three-dimensional (3D) viewing
US9196169B2 (en) 2008-08-21 2015-11-24 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US8911237B2 (en) 2008-08-21 2014-12-16 Lincoln Global, Inc. Virtual reality pipe welding simulator and setup
US8884177B2 (en) 2009-11-13 2014-11-11 Lincoln Global, Inc. Systems, methods, and apparatuses for monitoring weld quality
US9483959B2 (en) * 2008-08-21 2016-11-01 Lincoln Global, Inc. Welding simulator
US8915740B2 (en) * 2008-08-21 2014-12-23 Lincoln Global, Inc. Virtual reality pipe welding simulator
US8274013B2 (en) 2009-03-09 2012-09-25 Lincoln Global, Inc. System for tracking and analyzing welding activity
US9221117B2 (en) 2009-07-08 2015-12-29 Lincoln Global, Inc. System for characterizing manual welding operations
US9773429B2 (en) 2009-07-08 2017-09-26 Lincoln Global, Inc. System and method for manual welder training
US9011154B2 (en) 2009-07-10 2015-04-21 Lincoln Global, Inc. Virtual welding system
US10748447B2 (en) 2013-05-24 2020-08-18 Lincoln Global, Inc. Systems and methods providing a computerized eyewear device to aid in welding
US8569655B2 (en) 2009-10-13 2013-10-29 Lincoln Global, Inc. Welding helmet with integral user interface
US8569646B2 (en) 2009-11-13 2013-10-29 Lincoln Global, Inc. Systems, methods, and apparatuses for monitoring weld quality
US9468988B2 (en) 2009-11-13 2016-10-18 Lincoln Global, Inc. Systems, methods, and apparatuses for monitoring weld quality
US8987637B1 (en) * 2010-10-21 2015-03-24 The Reliable Automatic Sprinkler Co, Inc. Welding torch oscillator with motorized pitch control
CA2821671C (en) 2010-12-13 2018-01-09 Edison Welding Institute, Inc. Welding training system
CN102225499B (zh) * 2011-05-31 2014-01-15 大连交通大学 焊接机器人
US20160093233A1 (en) 2012-07-06 2016-03-31 Lincoln Global, Inc. System for characterizing manual welding operations on pipe and other curved structures
US9767712B2 (en) 2012-07-10 2017-09-19 Lincoln Global, Inc. Virtual reality pipe welding simulator and setup
US20140263205A1 (en) * 2013-03-15 2014-09-18 Lincoln Global, Inc. Torch height mechansim
US10930174B2 (en) 2013-05-24 2021-02-23 Lincoln Global, Inc. Systems and methods providing a computerized eyewear device to aid in welding
US20150072323A1 (en) 2013-09-11 2015-03-12 Lincoln Global, Inc. Learning management system for a real-time simulated virtual reality welding training environment
US10083627B2 (en) 2013-11-05 2018-09-25 Lincoln Global, Inc. Virtual reality and real welding training system and method
US9836987B2 (en) 2014-02-14 2017-12-05 Lincoln Global, Inc. Virtual reality pipe welding simulator and setup
WO2015170146A1 (en) * 2014-05-09 2015-11-12 Esab Ab Ergonomic welding arm with a plurality of arm links and joints
CN103990888A (zh) * 2014-05-15 2014-08-20 安徽埃夫特智能装备有限公司 一种可预约启动的弧焊机器人控制***
CN106233358A (zh) 2014-06-02 2016-12-14 林肯环球股份有限公司 用于人工焊工培训的***和方法
US10046421B2 (en) 2014-06-11 2018-08-14 Andersen Industries, Inc. Welding apparatus
CN104096960B (zh) * 2014-07-01 2016-02-03 天津市科华焊接设备有限公司 一种平板点焊机的上电极机械臂
CN104308332A (zh) * 2014-09-01 2015-01-28 浙江巨霸焊接设备制造有限公司 一种数控焊接机械手
EP3319066A1 (de) 2016-11-04 2018-05-09 Lincoln Global, Inc. Magnetische frequenzwahl für elektromagnetische positionsverfolgung
US10878591B2 (en) 2016-11-07 2020-12-29 Lincoln Global, Inc. Welding trainer utilizing a head up display to display simulated and real-world objects
US10913125B2 (en) 2016-11-07 2021-02-09 Lincoln Global, Inc. Welding system providing visual and audio cues to a welding helmet with a display
CN106863272B (zh) * 2017-03-07 2018-08-07 佛山华数机器人有限公司 一种通用scara机器人
US10997872B2 (en) 2017-06-01 2021-05-04 Lincoln Global, Inc. Spring-loaded tip assembly to support simulated shielded metal arc welding
JP6618957B2 (ja) 2017-06-14 2019-12-11 アイダエンジニアリング株式会社 プレス機械のワーク搬送装置
CN107971665A (zh) * 2017-11-09 2018-05-01 江苏新光数控技术有限公司 一种具有快速冷却功能的焊接机械手
US10109517B1 (en) * 2018-01-10 2018-10-23 Lam Research Corporation Rotational indexer with additional rotational axes
US11475792B2 (en) 2018-04-19 2022-10-18 Lincoln Global, Inc. Welding simulator with dual-user configuration
US11557223B2 (en) 2018-04-19 2023-01-17 Lincoln Global, Inc. Modular and reconfigurable chassis for simulated welding training

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2818494A (en) * 1954-02-12 1957-12-31 Arthur A Bernard Welding machine
US4014495A (en) * 1974-02-22 1977-03-29 Shin Meiwa Industry Co., Ltd. Automatic welding apparatus
US4086522A (en) * 1976-09-08 1978-04-25 Unimation, Inc. Computer assisted teaching arrangement for conveyor line operation
JPS53136258A (en) * 1977-04-27 1978-11-28 Kobe Steel Ltd Memorization and reproduction type industrial robot
JPS5937155B2 (ja) * 1977-09-01 1984-09-07 新明和工業株式会社 自動溶接装置
JPS5545563A (en) * 1978-09-26 1980-03-31 Shin Meiwa Ind Co Ltd Welding robot with fusing instrument
JPS55144382A (en) * 1979-04-26 1980-11-11 Shin Meiwa Ind Co Ltd Automatic welding robot
DE2918668C2 (de) * 1979-05-09 1982-05-27 Daimler-Benz Ag, 7000 Stuttgart Schweißkopf für elektrische Widerstandsschweißungen
JPS5641081A (en) * 1979-09-13 1981-04-17 Shin Meiwa Ind Co Ltd Automatic welding robot
JPS5647274A (en) * 1979-09-26 1981-04-28 Shin Meiwa Ind Co Ltd Automatic welding robot
US4409650A (en) * 1981-03-04 1983-10-11 Shin Meiwa Industry Co., Ltd. Automatic position controlling apparatus
JPS5856789A (ja) * 1981-09-25 1983-04-04 松下電器産業株式会社 ハンドリング装置
US4507042A (en) * 1981-10-07 1985-03-26 Yaskawa Electric Mfg. Co., Ltd. Cable support of a robot
US4624621A (en) * 1982-10-21 1986-11-25 Kabushiki Kaisha Kobe Seiko Sho Wrist mechanism for industrial robots and the like

Also Published As

Publication number Publication date
EP0180565B1 (de) 1990-07-25
DE180565T1 (de) 1986-11-06
EP0180565A1 (de) 1986-05-07
ES548309A0 (es) 1986-09-01
DE3578865D1 (de) 1990-08-30
ES8608987A1 (es) 1986-09-01
US4629860A (en) 1986-12-16
JPS61123471A (ja) 1986-06-11

Similar Documents

Publication Publication Date Title
ATE54864T1 (de) Vorrichtung zur werkzeugbewegung.
DE68918318D1 (de) Echtzeitsteuersystem für einen industriellen Roboter zum Folgen eines Standardweges.
ATE43981T1 (de) Industrieroboter zum schweissen und schneiden mittels eines laserstrahls.
IT1180085B (it) Sistema cambiautensili per robot industriali
CA2153334A1 (en) A system and method for tracking a feature on an object using a redundant axis
DE3686539D1 (de) System zum feststellen von rechtwinkligen koordinaten eines durch einen roboter bearbeiteten werkstueckes.
FR2499438B1 (fr) Torche a souder
EP0130539A3 (en) Manipulation arm mechanism for an industrial robot
ATA289782A (de) Automatisch betriebene vorrichtung zum zusammen- bau, zum messen, zum bearbeiten od.dgl. von arbeitsstuecken
SE8503313D0 (sv) Industrirobot
DE3669120D1 (de) Manipulatorkopf mit bearbeitungswerkzeug fuer rohre oder rohrleitungen.
JPS6471646A (en) Nc data creating system for turning work
SE8600393L (sv) Robot for maskinbearbetning med laserstrale
DE3575755D1 (de) Vorrichtung zum antreiben des arbeitswerkzeuges eines baggers.
GB2132790A (en) Method and device for shaping a surface of a workpiece
PT75873B (en) Improved torch useful in air-carbon arc processes
JPS56107899A (en) Working arm device for industrial robot
DE3767639D1 (de) Werkzeug zum verlegen und ablaengen von kabeln mit hilfe eines industrieroboters.
FR2473362B1 (fr) Procede et appareil d'usinage electrique avec liquide d'usinage interpose entre l'outil et la piece a usiner
Rider Control of weldpool size and position for automatic and robotic welding.
DE3587414D1 (de) Industrieroboter mit servosystem.
JPS5513447A (en) Work robot incorporable with data processor
JPS5413436A (en) Automatic welding head
JPS5235068A (en) System for controlling vertical and horizontal motions of an articulat ed arm carried in industrial robots
GB2010143A (en) Improvements in and relating to generating aspheric surfaces

Legal Events

Date Code Title Description
UEP Publication of translation of european patent specification
REN Ceased due to non-payment of the annual fee